Dual cable triangulation mechanism
View Patent ↗A surgical system is adapted and configured for use in a minimally invasive surgical procedure. The surgical system includes a surgical instrument that is operatively coupled to a seal anchor member for accessing an underlying body cavity and manipulating a target tissue within the body cavity. The surgical instrument includes a plurality of arms that are triangulatable with respect to each other and the target tissue.
1. A surgical system, comprising:
a seal anchor member including first and second longitudinally extending ports; and
a surgical instrument including a first arm and a second arm configured and
adapted to be placed within the first and second longitudinally extending ports, respectively, each arm including:
a first segment including a plurality of rings and a first annular member disposed distal of the plurality of rings;
a second segment disposed proximal of the first segment, the second segment including a plurality of rings and a second annular member disposed distal of the plurality of rings of the second segment;
a first cable operatively associated with the first annular member of the first segment and having a first end secured to one of the plurality of rings of the
first segment and a second end extending proximally from the first annular member;
a second cable operatively associated with the second annular member of the second segment and having a first end secured to one of the plurality of rings of the second segment and a second end extending proximally from the second annular member, wherein the first and second cables are independently actuatable, such that the first and second segments are independently actuatable.
2. The surgical system of claim 1 , wherein the first and second annular members have different longitudinal dimensions.
3. The surgical system of claim 1 , wherein the first and second annular members each have a longitudinal dimension and the displacement of a distal end of each annular member is proportional to the longitudinal dimension of each annular member.
4. The surgical system of claim 1 , wherein the surgical instrument further includes a collar positioned about at least one of the first and second annular members, the collar repositionable along a longitudinal axis of the at least one of the first and second annular members, a position of the at least one of the first and second annular members corresponding to a position of the collar with respect to the longitudinal axis of the at least one of the first and second annular members.
5. The surgical system of claim 1 , wherein the surgical instrument further includes a collar disposed about at least one of the first and second annular members, the collar translatable along a longitudinal axis of the at least one of the first and second annular members to cause movement of the at least one of the first and second annular members.
6. A method of performing surgery, comprising:
providing a surgical system including:
a seal anchor member including first and second longitudinally extending ports; and
a surgical instrument including a first arm and a second arm configured and adapted to be placed within the first and second longitudinally extending ports, respectively, each arm including:
a first segment including a plurality of rings and a first annular member disposed distal of the plurality of rings;
a second segment disposed proximal of the first segment, the second segment including a plurality of rings and a second annular member disposed distal of the plurality of rings of the second segment;
a first cable operatively associated with the first annular member of the first segment and having a first end secured to one of the plurality of rings of the first segment and a second end extending proximally from the first annular member;
a second cable operatively associated with the second annular member of the second segment and having a first end secured to one of the plurality of rings of the second segment and a second end extending proximally from the second annular member wherein the first and the second segments are independently actuatable; and
an end effector on each of the first and the second arms; placing the surgical system within a tissue tract accessing an underlying surgical site;
actuating at least one of the first and second segments of at least one of the first and second arms to reposition the end effector of the at least one of the first and second arms;
engaging the end effector with a target tissue within the surgical site and performing a desired surgical procedure; and
removing the surgical system from the tissue tract.
7. The method of performing surgery of claim 6 , wherein the first and second annular members have d longitudinal dimensions.
8. The method of performing surgery of claim 6 , wherein the first and second annular members each have a longitudinal dimension and the displacement of a distal end of each annular member is proportional to the longitudinal dimension of each annular member.
9. The method of performing surgery of claim 6 , wherein the surgical instrument further includes a collar positioned about at least one of the first and second annular members, the collar repositionable along a longitudinal axis of the at least one of the first and second annular members, the position of the at least one of the first and second annular members corresponding to the position of the collar with respect to the longitudinal axis of the at least one of the first and second annular members.
10. The method of performing surgery of claim 6 , wherein the surgical instrument further includes a collar disposed about at least one of the first and second annular members, the collar translatable along a longitudinal axis of the at least one of the first and second annular members to cause movement of the at least one of the first and second annular members.
11. The method of performing surgery of claim 6 , wherein actuating at least one of the first and second segments of at least one of the first and second arms to reposition the end effector of the at least one of the first and second arms includes moving the end effectors of the first and second arms in a synchronized manner.
12. The method of performing surgery of claim 6 , further comprising inserting the first and second arms through the first and second longitudinally extending ports, respectively.
13. The surgical system of claim 1 , wherein the first annular member defines a channel which the first cable is looped.
14. The surgical system of claim 1 , wherein the second annular member defines a channel which the second cable is looped.
15. The surgical system of claim 1 , wherein at least one of the first and second arms includes a third cable opposing the first cable, the third cable operatively associated with the first annular member of the first segment and having a first end secured to the one of the plurality of rings of the first segment and a second end extending proximally form the first annular member.
16. The surgical system of claim 1 , wherein at least one of the first and second arms includes a fourth cable opposing the second cable, the fourth cable operatively associated with the second annular member of the second segment and having a first end secured to the one of the plurality of rings of the second segment and a second end extending proximally form the second annular member.